基于超薄压阻传导单元的新型柔性触觉传感器研究

发布时间：2019-03-02 08:54

【摘要】：软固体表面相互作用的接触模型在机器人和机电系统设计中起着重要的作用。触觉感知是自动灵巧机器人手操纵的基本要素。它提供关于机器人手指和物体之间的接触点的相互作用力和表面性质的信息。交互信息(如摩擦和滑移)对于评估接触面上的相对运动非常有用,其检测对于机器人的抓握和操纵是至关重要的。本课题重点介绍一种用于机器人动态抓握的新型柔性触觉传感器。该触觉传感器基于超薄压阻导电单元,并且能够检测柔性接触表面上的三维力。可以通过使用具有触觉感知反馈的机器人,提供一种重要的传感方法,用于通过使用机器人来安全稳定地掌握和移动物体。我们开发了一种基于这种类型的用于机器人动态抓握的传感器的软固体接触的新模型。在工作过程中,我们先从概念技术图中移动,然后模拟测试单元中的各个组件。我们通过LIT技术创建放大器;执行原型的校准。我们介绍我们的原型的实验结果,得出关于不成功的物理模型的结论。从Z轴,我们获得了传感器对施加负载的响应的良好结果。但在X轴和Y轴的校准过程中,我们面临低灵敏度的问题,增益也不能解决这个问题。我们决定创建一个新的原型。从这个经验我们开发了一个新的最优物理模型,基于它做了第二个样本,与不同的传感器。在本文中,详细描述了其制造过程。我们得到相当不错的结果,这次我们沿轴+X,-X,+Y,-Y轴有很好的灵敏度。Z轴也没有提出问题。我们获得了每个轴的数学描述,这表示一个成功的校准过程。沿着所有轴的载荷范围可以通过增益因子增加或减小。在Z轴上,传感器可以用另一个传感器更换,范围更广。可以得出结论,第二个样本适合于动态抓取任务。
[Abstract]:The contact model of soft solid surface interaction plays an important role in the design of robot and electromechanical system. Tactile perception is the basic element of automatic dexterous robot hand manipulation. It provides information about the interaction and surface properties between the robot's fingers and objects. Interactive information (such as friction and slip) is very useful for evaluating the relative motion of the contact surface, and its detection is very important for robot grip and manipulation. This paper focuses on the introduction of a new flexible tactile sensor for robot dynamic grip. The tactile sensor is based on ultra-thin piezoresistive conductive elements and can detect three-dimensional forces on flexible contact surfaces. An important sensing method can be provided by using robots with tactile perceptual feedback, which can be used to control and move objects safely and stably by using robots. We have developed a new soft solid contact model based on this type of sensor for robot dynamic grip. In the process of work, we first move from the concept technology diagram, and then simulate the components in the test unit. We create amplifiers through LIT technology; perform prototype calibration. We introduce the experimental results of our prototype and draw conclusions about unsuccessful physical models. From the Z axis, we obtain the good results of the response of the sensor to the applied load. However, in the calibration process of X-axis and Y-axis, we face the problem of low sensitivity and gain can not solve this problem. We decided to create a new prototype. From this experience we develop a new optimal physical model based on which we make a second sample with different sensors. In this paper, the manufacturing process is described in detail. We got pretty good results this time along the axes X, Y, and we have a good sensitivity. The Z axis doesn't raise any questions. We have obtained a mathematical description of each axis, which represents a successful calibration process. The load range along all axes can be increased or decreased by the gain factor. On the Z axis, the sensor can be replaced with another sensor, with a wider range. It can be concluded that the second sample is suitable for dynamic capture task.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212

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